CN210161161U - Direct-drive cooperative mechanical arm based on ultrasonic motor - Google Patents
Direct-drive cooperative mechanical arm based on ultrasonic motor Download PDFInfo
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- CN210161161U CN210161161U CN201920903247.2U CN201920903247U CN210161161U CN 210161161 U CN210161161 U CN 210161161U CN 201920903247 U CN201920903247 U CN 201920903247U CN 210161161 U CN210161161 U CN 210161161U
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Abstract
The utility model relates to a direct-drive cooperative mechanical arm based on an ultrasonic motor, which comprises a base, a big arm, a small arm and a hand; a first ultrasonic motor is fixedly connected to the base, a first output shaft of the first ultrasonic motor is vertically arranged, the first output shaft of the first ultrasonic motor is fixedly connected with a transverse side plate of an L-shaped rotating seat through a first flange seat, a second ultrasonic motor is fixedly connected to a longitudinal side plate of the rotating seat, and a second output shaft of the second ultrasonic motor is horizontally arranged and extends to one side, close to the first ultrasonic motor, of the rotating seat; big arm one end is through the second output shaft fixed connection of a second flange seat and second ultrasonic motor, the other end fixedly connected with third ultrasonic motor of big arm, the third output shaft level of third ultrasonic motor sets up and the orientation is opposite with the orientation of the second output shaft of second ultrasonic motor, forearm one end is through the third output shaft fixed connection of a third flange seat and third ultrasonic motor, the forearm other end is connected with the hand.
Description
Technical Field
The utility model relates to an arm technical field especially relates to a direct-drive type cooperation arm based on supersound motor.
Background
As is known, the existing mechanical device is still driven by a traditional motor, a plurality of speed changing devices are arranged in the middle, the rotation of the motor drives the mechanical mechanism to move, and the movement of the whole mechanical device is driven by the corresponding speed changing devices. Although the traditional motor saves manpower, the traditional motor has the defects of impact, noise, low efficiency, difficult control, energy conversion and long response time.
Unlike traditional motor, the ultrasonic motor obtains its motion and moment by means of electromagnetic cross force, and the ultrasonic motor obtains its motion and moment by means of piezoelectric effect and ultrasonic vibration of piezoelectric ceramic, so as to convert the microscopic deformation of material into the macroscopic motion of rotor via mechanical resonance amplification and friction coupling.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model aims to provide a direct drive formula cooperation arm based on supersound motor, self that this arm had solved traditional motor existence has strikeed, and the noise, inefficiency is difficult to control and needs the conversion energy, and the long scheduling problem of response time has saved the space simultaneously, has improved transmission efficiency.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a direct-drive cooperative mechanical arm based on an ultrasonic motor comprises a base, a large arm, a small arm and a hand part; a first ultrasonic motor is fixedly connected to the base, a first output shaft of the first ultrasonic motor is vertically arranged, the first output shaft of the first ultrasonic motor is fixedly connected with a transverse side plate of an L-shaped rotating seat through a first flange seat, a second ultrasonic motor is fixedly connected to a longitudinal side plate of the rotating seat, and a second output shaft of the second ultrasonic motor is horizontally arranged and extends to one side, close to the first ultrasonic motor, of the rotating seat; big arm one end is through the second output shaft fixed connection of a second flange seat and second ultrasonic motor, the other end fixedly connected with third ultrasonic motor of big arm, the third output shaft level of third ultrasonic motor sets up and the orientation is opposite with the orientation of the second output shaft of second ultrasonic motor, forearm one end is through the third output shaft fixed connection of a third flange seat and third ultrasonic motor, the forearm other end is connected with the hand.
The ultrasonic motor comprises a base, a first ultrasonic motor and a second ultrasonic motor, wherein a cavity matched with the first ultrasonic motor in shape is formed in the base, the cavity penetrates through the upper end face and the lower end face of the base, and a U-shaped wiring port for wiring and communicated with the cavity is formed in the side wall of one side of the base.
The first housing of the first ultrasonic motor is accommodated at the upper part of the cavity of the base, and the first stator seat of the first ultrasonic motor is positioned above the base and is fixedly connected to the top surface of the base.
Wherein, the swivel mount shaft hole that the first output shaft that supplies first ultrasonic motor passed is opened at the center of the horizontal curb plate of swivel mount, and horizontal curb plate evenly opens the lightening trompil that has a plurality of weight of lightening swivel mount in the periphery in swivel mount shaft hole, is provided with the swivel mount accommodation hole of the second casing of holding second ultrasonic motor on the vertical curb plate of swivel mount, and swivel mount accommodation hole link up the top of vertical curb plate.
The first flange seat is provided with a flange plate and a sleeve fixedly connected to the flange plate, a straight clamping surface is arranged on the circular arc-shaped inner wall of the sleeve, a through hole penetrating through the sleeve in the horizontal direction is formed in the position of the clamping surface of the sleeve, and the structures of the second flange seat and the third flange seat are the same as those of the first flange seat.
The second shell of the second ultrasonic motor is fixedly connected to the outer side of the longitudinal side plate of the rotary seat, and the second stator seat of the second ultrasonic motor is fixedly connected to the inner side of the longitudinal side plate of the rotary seat.
The big arm is provided with a long-strip-shaped arm part and a connecting part connected to one end of the arm part, one end, far away from the connecting part, of the arm part is provided with a big arm shaft hole through which a second output shaft of the second ultrasonic motor penetrates, a big arm lightening strip hole is formed in the part, between the big arm shaft hole and the connecting part, of the arm part along the length direction of the arm part, a big arm containing hole is formed in the shape, matched with a third shell of the third ultrasonic motor, of the connecting part, and the big arm containing hole penetrates through the side wall of one side of the connecting part.
The end part of the arm part with the big arm shaft hole of the big arm and a second flange seat are sequentially sleeved on a second output shaft of the second ultrasonic motor from one side close to the second ultrasonic motor to the outer side, a flange plate of the second flange seat is fixedly connected to the arm part, and a sleeve of the second flange seat is sleeved on the second output shaft of the second ultrasonic motor and is fixedly connected with the second output shaft.
The third shell of the third ultrasonic motor is fixedly connected to one side, close to the second flange seat, of the connecting portion of the large arm, and the third stator seat of the third ultrasonic motor is fixedly connected to the other side of the connecting portion of the large arm.
And a small arm weight reducing bar hole is formed between the two end parts of the small arm along the length direction of the small arm.
The utility model discloses following beneficial effect has:
the utility model discloses a direct-drive type cooperation arm based on supersound motor, self that this arm had solved traditional motor existence has assaulted, and the noise is inefficient, is difficult to control and needs the conversion energy, and the long scheduling problem of response time adopts the structure of direct-drive type simultaneously, has saved the space, has improved transmission efficiency.
Meanwhile, the mechanical arm is designed into an open-chain type multi-link mechanism, the joints move mutually to drive the links to move, the structure is simple, the energy loss is small, the driving rigidity is strong, the mechanical arm can move to achieve different poses, and the mechanical arm can be applied to precision operations such as production, assembly, carrying and the like of medium-small and precise elements and flexible production modes such as small-batch and customized production of products.
Drawings
Fig. 1 is a schematic view of the overall structure of a viewing angle of the present invention;
fig. 2 is a schematic view of another perspective of the present invention;
fig. 3 is a schematic structural view of the base of the present invention;
FIG. 4 is a schematic structural view of a swivel base of the present invention;
fig. 5 is a schematic structural view of the flange seat of the present invention;
fig. 6 is a schematic structural view of the large arm of the present invention;
fig. 7 is a schematic structural view of the forearm of the present invention.
Description of reference numerals:
1-base, 11-cavity, 12-wiring port, 2-big arm, 21-arm, 211-big arm shaft hole, 212-big arm lightening bar hole, 22-connecting part, 221-big arm containing hole, 3-small arm, 31-small arm shaft hole, 32-connecting hole, 33-small arm lightening bar hole, 4-first ultrasonic motor, 42-first stator seat, 43-first output shaft, 5-second ultrasonic motor, 51-second machine shell, 52-second stator seat, 53-second output shaft, 6-third ultrasonic motor, 61-third machine shell, 62-third stator seat, 63-third output shaft, 71-first flange seat, 711-flange plate, 712-sleeve, 7121-clamping surface, 72-second flange seat, 73-a third flange seat, 8-a swivel seat, 81-a transverse side plate, 811-a swivel shaft hole, 812-a weight-reducing hole, 82-a longitudinal side plate and 821-a swivel accommodating hole.
Detailed Description
The invention will be described in further detail with reference to the following drawings and specific embodiments:
referring to fig. 1 to 7, a direct-drive cooperative mechanical arm based on an ultrasonic motor comprises a base 1, a large arm 2, a small arm 3 and a hand.
The ultrasonic motor is characterized in that a cavity 11 with a shape matched with that of a first shell of the first ultrasonic motor 4 is formed in the base 1, the cavity 11 penetrates through the upper end face and the lower end face of the base 1, and a U-shaped wiring port 12 for wiring and communicated with the cavity 11 is formed in the side wall of one side of the base 1.
The ultrasonic motor comprises a base 1, and is characterized in that a first ultrasonic motor 4 is fixedly connected to the base 1, a first housing of the first ultrasonic motor 4 is accommodated at the upper part of a cavity 11 of the base 1, a first stator seat 42 of the first ultrasonic motor 4 is positioned above the base 1 and is fixedly connected to the top surface of the base 1, and a first output shaft 43 of the first ultrasonic motor 4 is vertically arranged.
The first output shaft 43 of the first ultrasonic motor 4 is connected with a rotary seat 8 through a first flange seat 71, the rotary seat 8 is L-shaped, a transverse side plate 81 of the rotary seat 8 is horizontally placed on the first stator seat 42 of the first ultrasonic motor 4, and a rotary seat shaft hole 811 for the first output shaft 43 of the first ultrasonic motor 4 to pass through is formed in the center of the transverse side plate 81. Preferably, the lateral side plate 81 is provided with a plurality of weight-reducing holes 812 uniformly formed on the periphery of the rotation seat shaft hole 811 for reducing the weight of the rotation seat 8. The longitudinal side plate 82 of the swivel base 8 is fixedly connected with a second ultrasonic motor 5, a swivel base accommodating hole 821 for accommodating the second housing 51 of the second ultrasonic motor 5 is arranged on the longitudinal side plate 82 of the swivel base 8, and the swivel base accommodating hole 821 penetrates through the top of the longitudinal side plate 82. The second housing 51 of the second ultrasonic motor 5 is fixedly connected to the outer side of the longitudinal side plate 82 of the rotary seat 8, the second stator seat 52 of the second ultrasonic motor 5 is fixedly connected to the inner side of the longitudinal side plate 82 of the rotary seat 8, and the second output shaft 53 of the second ultrasonic motor 5 is horizontally arranged and extends to one side of the rotary seat 8 close to the first ultrasonic motor 4.
The first flange seat 71 is provided with a flange 711 fixedly connected with the transverse side plate 81 of the rotating seat 8 and a sleeve 712 fixedly sleeved with the first output shaft 43 of the first ultrasonic motor 4, the sleeve 712 is vertically fixed on the horizontal flange 711, a vertical straight clamping face 7121 is arranged on the circular arc-shaped inner wall of the sleeve 712, a through hole penetrating through the sleeve 712 in the horizontal direction is arranged at the position of the clamping face 7121 of the sleeve 712, the first output shaft 43 of the first ultrasonic motor 4 and the sleeve 712 horizontally penetrate through the through hole in the sleeve 712 through a fastening piece to be fixedly connected together, and the flange 711 penetrates through the disc face of the flange 711 through the fastening piece to be fixedly connected with the transverse side plate 81 of the rotating seat 8.
The large arm 2 is connected to the second ultrasonic motor 5 via a second flange mount 72. The large arm 2 has an elongated plate-shaped arm portion 21 and a circular connecting portion 22 connected to one end of the arm portion 21, an end of the arm portion 21 remote from the connecting portion 22 is provided with a large arm shaft hole 211 through which the second output shaft 53 of the second ultrasonic motor 5 passes, and a large arm lightening bar hole 212 is formed in a portion of the arm portion 21 between the large arm shaft hole 211 and the connecting portion 22 in a length direction of the arm portion 21.
The end part of the arm part 21 with the large arm shaft hole 211 of the large arm 2 and the second flange seat 72 are sequentially sleeved on the second output shaft 53 of the second ultrasonic motor 5 from one side close to the second stator seat 52 of the second ultrasonic motor 5 to the outside, the structure of the second flange seat 72 is the same as that of the first flange seat 71, a flange plate of the second flange seat 72 is fixedly connected to the arm part 21, and a sleeve 712 of the second flange seat 72 is sleeved on the second output shaft 53 of the second ultrasonic motor 5 and is fixedly connected with the second output shaft 53.
The connecting part 22 of the large arm 2 is fixedly connected with a third ultrasonic motor 6, the connecting part 22 is provided with a large arm accommodating hole 221 matched with the shape of a third shell 61 of the third ultrasonic motor 6, and the large arm accommodating hole 221 penetrates through the side wall of one side of the connecting part 22.
The third housing 61 of the third ultrasonic motor 6 is fixedly connected to one side of the connecting portion 22 of the large arm 2 close to the second flange seat 72, the third stator seat 62 of the third ultrasonic motor 6 is fixedly connected to the other side of the connecting portion 22 of the large arm 2, and the third output shaft 63 of the third ultrasonic motor 6 is horizontally arranged and faces the direction opposite to the direction of the second output shaft 53 of the second ultrasonic motor 5.
The small arm 3 is connected to the third ultrasonic motor 6 through a third flange base 73. The forearm 3 is rectangular platelike, the one end of forearm 3 is provided with the forearm shaft hole 31 that supplies third output shaft 63 of third ultrasonic motor 6 to pass, the third output shaft 63 of third ultrasonic motor 6 passes forearm shaft hole 31 and forearm shaft hole end fixed connection of forearm 3. The other end of the small arm 3 is provided with a connecting hole 32 for connecting a hand driving mechanism, and a small arm lightening bar hole 33 is arranged between the two end parts of the small arm 3 along the length direction of the small arm 3.
The hand driving mechanism is fixedly connected in the connecting hole 32 of the small arm 3, and the hand is connected with the hand driving mechanism.
The above only is the detailed implementation manner of the present invention, not limiting the patent scope of the present invention, all the equivalent structure changes made in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The utility model provides a direct drive formula cooperation arm based on supersound motor which characterized in that: comprises a base (1), a big arm (2), a small arm (3) and a hand part; a first ultrasonic motor (4) is fixedly connected to the base (1), a first output shaft (43) of the first ultrasonic motor (4) is vertically arranged, the first output shaft (43) of the first ultrasonic motor (4) is fixedly connected with a transverse side plate (81) of an L-shaped rotating seat (8) through a first flange seat (71), a second ultrasonic motor (5) is fixedly connected to a longitudinal side plate (82) of the rotating seat (8), and a second output shaft (53) of the second ultrasonic motor (5) is horizontally arranged and extends to one side, close to the first ultrasonic motor (4), of the rotating seat (8); big arm (2) one end is through second flange seat (72) and second output shaft (53) fixed connection of second supersound motor (5), the other end fixedly connected with third supersound motor (6) of big arm (2), third output shaft (63) level setting of third supersound motor (6) and orientation are opposite with the orientation of second output shaft (53) of second supersound motor (5), little arm (3) one end is through third flange seat (73) and third output shaft (63) fixed connection of third supersound motor (6), little arm (3) other end is connected with the hand.
2. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: the ultrasonic motor is characterized in that a cavity (11) with a shape matched with that of a first shell of the first ultrasonic motor (4) is formed in the base (1), the cavity (11) penetrates through the upper end face and the lower end face of the base (1), and a U-shaped wiring port (12) communicated with the cavity (11) and used for wiring is formed in the side wall of one side of the base (1).
3. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 2, wherein: the first housing of the first ultrasonic motor (4) is accommodated at the upper part of the cavity (11) of the base (1), and the first stator seat (42) of the first ultrasonic motor (4) is positioned above the base (1) and is fixedly connected to the top surface of the base (1).
4. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: the center of a transverse side plate (81) of the swivel base (8) is provided with a swivel base shaft hole (811) for a first output shaft (43) of the first ultrasonic motor (4) to pass through, the periphery of the swivel base shaft hole (811) of the transverse side plate (81) is uniformly provided with a plurality of lightening open holes (812) for lightening the weight of the swivel base (8), a longitudinal side plate (82) of the swivel base (8) is provided with a swivel base accommodating hole (821) for accommodating a second shell (51) of the second ultrasonic motor (5), and the swivel base accommodating hole (821) penetrates through the top of the longitudinal side plate (82).
5. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: the first flange seat (71) is provided with a flange plate (711) and a sleeve (712) fixedly connected to the flange plate (711), a straight clamping surface (7121) is arranged on the circular-arc-shaped inner wall of the sleeve (712), a through hole penetrating through the sleeve (712) horizontally is formed in the position of the clamping surface (7121) of the sleeve (712), and the structures of the second flange seat (72) and the third flange seat (73) are the same as those of the first flange seat (71).
6. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: the second shell (51) of the second ultrasonic motor (5) is fixedly connected to the outer side of the longitudinal side plate (82) of the rotary seat (8), and the second stator seat (52) of the second ultrasonic motor (5) is fixedly connected to the inner side of the longitudinal side plate (82) of the rotary seat (8).
7. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: the large arm (2) is provided with a long-strip-shaped plate-shaped arm part (21) and a connecting part (22) connected to one end of the arm part (21), one end, far away from the connecting part (22), of the arm part (21) is provided with a large arm shaft hole (211) through which a second output shaft (53) of the second ultrasonic motor (5) penetrates, a large arm lightening strip hole (212) is formed in the part, between the large arm shaft hole (211) and the connecting part (22), of the arm part (21) along the length direction of the arm part (21), a large arm containing hole (221) is formed in the shape, matched with a third shell (61) of the third ultrasonic motor (6), of the connecting part (22), and the large arm containing hole (221) penetrates through the side wall of one side of the connecting part (.
8. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 7, wherein: the end part of the arm part (21) with the large arm shaft hole (211) of the large arm (2) and a second flange seat (72) are sequentially sleeved on a second output shaft (53) of the second ultrasonic motor (5) from one side close to the second ultrasonic motor (5) to the outer side, a flange plate of the second flange seat (72) is fixedly connected onto the arm part (21), and a sleeve (712) of the second flange seat (72) is sleeved on the second output shaft (53) of the second ultrasonic motor (5) and is fixedly connected with the second output shaft (53).
9. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 8, wherein: and a third shell (61) of the third ultrasonic motor (6) is fixedly connected to one side, close to the second flange seat (72), of the connecting part (22) of the large arm (2), and a third stator seat (62) of the third ultrasonic motor (6) is fixedly connected to the other side of the connecting part (22) of the large arm (2).
10. The ultrasonic-motor-based direct drive cooperative mechanical arm of claim 1, wherein: one end of the small arm (3) is provided with a small arm shaft hole (31) for a third output shaft (63) of the third ultrasonic motor (6) to penetrate through, the other end of the small arm (3) is provided with a connecting hole (32) connected with the hand driving mechanism, and a small arm lightening bar hole (33) is formed between the two end parts of the small arm (3) along the length direction of the small arm (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920903247.2U CN210161161U (en) | 2019-06-17 | 2019-06-17 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920903247.2U CN210161161U (en) | 2019-06-17 | 2019-06-17 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210161161U true CN210161161U (en) | 2020-03-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920903247.2U Expired - Fee Related CN210161161U (en) | 2019-06-17 | 2019-06-17 | Direct-drive cooperative mechanical arm based on ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210161161U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
-
2019
- 2019-06-17 CN CN201920903247.2U patent/CN210161161U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110103214A (en) * | 2019-06-17 | 2019-08-09 | 青岛理工大学 | A kind of direct-drive type cooperation mechanical arm based on ultrasound electric machine |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200320 Termination date: 20200617 |